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tau-adl / Tello_ROS_ORBSLAM

A full and whole framework for using Drones in general, and the DJI Tello specifically.
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Rotated SLAM pose #13

Open DanielRoeder1 opened 2 years ago

DanielRoeder1 commented 2 years ago

In the readme it is outlined that the rotated SLAM pose is created to account for the slightly downward-facing camera angle (i.e 12 degrees).

Looking at the code in the tello_slam_control.py a rotation around the Y-axis is performed to account for this.

self.rotated_pos.x = self.slam_pos.x * math.cos(self.angle_radian) + self.slam_pos.z * math.sin(self.angle_radian)
self.rotated_pos.y = self.slam_pos.y
self.rotated_pos.z = self.slam_pos.x * (-math.sin(self.angle_radian)) + self.slam_pos.z * math.cos(self.angle_radian)

From my understanding, this should be a rotation around the X-axis instead?

AnaRhisT94 commented 2 years ago

In the readme it is outlined that the rotated SLAM pose is created to account for the slightly downward-facing camera angle (i.e 12 degrees).

Looking at the code in the tello_slam_control.py a rotation around the Y-axis is performed to account for this.

self.rotated_pos.x = self.slam_pos.x * math.cos(self.angle_radian) + self.slam_pos.z * math.sin(self.angle_radian)
self.rotated_pos.y = self.slam_pos.y
self.rotated_pos.z = self.slam_pos.x * (-math.sin(self.angle_radian)) + self.slam_pos.z * math.cos(self.angle_radian)

From my understanding, this should be a rotation around the X-axis instead?

Hi, Any ideas how to solve my current issue? (Tello's camera doesn't show up in the viewer) [https://github.com/tau-adl/Tello_ROS_ORBSLAM/issues/15]